EP3950566A4 - High-position robot, method for calibrating return of storage container, and storage medium - Google Patents
High-position robot, method for calibrating return of storage container, and storage medium Download PDFInfo
- Publication number
- EP3950566A4 EP3950566A4 EP19923051.7A EP19923051A EP3950566A4 EP 3950566 A4 EP3950566 A4 EP 3950566A4 EP 19923051 A EP19923051 A EP 19923051A EP 3950566 A4 EP3950566 A4 EP 3950566A4
- Authority
- EP
- European Patent Office
- Prior art keywords
- storage medium
- storage container
- position robot
- storage
- calibrating return
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0233—Position of the article
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
- B65G2203/0283—Position of the load carrier
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Warehouses Or Storage Devices (AREA)
- Forklifts And Lifting Vehicles (AREA)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910262867.7A CN109969989B (en) | 2019-04-02 | 2019-04-02 | Driving strategy determination method, intelligent forklift and storage medium |
CN201910272981.8A CN109987550B (en) | 2019-04-04 | 2019-04-04 | Calibration method and storage medium for high-position forklift and returning storage container |
PCT/CN2019/102910 WO2020199471A1 (en) | 2019-04-02 | 2019-08-27 | High-position robot, method for calibrating return of storage container, and storage medium |
Publications (3)
Publication Number | Publication Date |
---|---|
EP3950566A1 EP3950566A1 (en) | 2022-02-09 |
EP3950566A4 true EP3950566A4 (en) | 2023-01-04 |
EP3950566B1 EP3950566B1 (en) | 2024-03-20 |
Family
ID=72664822
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19923051.7A Active EP3950566B1 (en) | 2019-04-02 | 2019-08-27 | High-position robot, method for calibrating return of storage container, and storage medium |
Country Status (3)
Country | Link |
---|---|
US (1) | US11958687B2 (en) |
EP (1) | EP3950566B1 (en) |
WO (1) | WO2020199471A1 (en) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US12035665B2 (en) * | 2018-04-16 | 2024-07-16 | Growponics Greenhouse Technology Ltd. | Greenhouse control system |
EP3950566B1 (en) * | 2019-04-02 | 2024-03-20 | Beijing Geekplus Technology Co., Ltd. | High-position robot, method for calibrating return of storage container, and storage medium |
CN112707340B (en) * | 2020-12-10 | 2022-07-19 | 安徽有光图像科技有限公司 | Equipment control signal generation method and device based on visual identification and forklift |
DE102021104920A1 (en) * | 2021-03-02 | 2022-09-08 | Jungheinrich Aktiengesellschaft | PROCEDURE FOR CALIBRATION OF COORDINATE SYSTEMS IN INDUSTRIAL TRUCKS |
CN115520808A (en) * | 2021-06-08 | 2022-12-27 | 灵动科技(北京)有限公司 | Butt joint method of autonomous mobile forklift and autonomous mobile forklift |
US20230406681A1 (en) * | 2022-06-17 | 2023-12-21 | Effito Pte. Ltd. | Apparatus for identification and positioning and cargo transportation apparatus |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2468678A1 (en) * | 2010-12-23 | 2012-06-27 | Jungheinrich Aktiengesellschaft | Industrial truck with a sensor for detecting the surroundings and method for operating such an industrial truck |
US20160090283A1 (en) * | 2014-09-25 | 2016-03-31 | Bt Products Ab | Fork-Lift Truck |
US20180143624A1 (en) * | 2016-11-22 | 2018-05-24 | Jungheinrich Aktiengesellschaft | Method and industrial truck for ascertaining and representing the position of storage bins in a warehouse |
Family Cites Families (31)
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FR2691116B1 (en) | 1992-05-18 | 1994-08-19 | Bennes Marrel | Forklift tie-down support at the rear of a truck platform, tie-down system comprising this support, and truck fitted with this system. |
US5984050A (en) | 1997-05-29 | 1999-11-16 | The Raymond Corporation | Carriage suspension for lift truck |
JP2001199698A (en) | 2000-01-19 | 2001-07-24 | Tcm Corp | Brake device for forklift truck |
DE102004001198A1 (en) | 2004-01-07 | 2005-08-04 | Daimlerchrysler Ag | Operation of an autonomous transportation vehicle in a warehouse or storage location, whereby processed image information is additionally used to access the stock levels with the information being transmitted to a central location |
US20070213869A1 (en) | 2006-02-08 | 2007-09-13 | Intermec Ip Corp. | Cargo transporter with automatic data collection devices |
US8538577B2 (en) | 2010-03-05 | 2013-09-17 | Crown Equipment Limited | Method and apparatus for sensing object load engagement, transportation and disengagement by automated vehicles |
PT2620391E (en) * | 2012-01-30 | 2014-08-26 | Carefusion Germany 326 Gmbh | Method for removing packets of medicine |
CN102616703B (en) | 2012-04-16 | 2014-04-30 | 缪慰时 | Track-free intelligent moving device of goods shelf warehouse |
CN104129735A (en) | 2013-05-05 | 2014-11-05 | 上海盛络建筑工程有限公司 | A novel electric carrier |
US20170015537A1 (en) * | 2015-07-13 | 2017-01-19 | George R. Bosworth, III | Lifting fork positioning system |
US9488986B1 (en) | 2015-07-31 | 2016-11-08 | Hand Held Products, Inc. | System and method for tracking an item on a pallet in a warehouse |
EP3192616A1 (en) | 2016-01-14 | 2017-07-19 | Magazino GmbH | Robot to pick up and transport objects and method using such a robot |
EP3452402B1 (en) | 2016-05-23 | 2024-01-03 | Crown Equipment Corporation | Systems and methods for use of a materials handling vehicle in a warehouse environment |
JP6339633B2 (en) | 2016-06-28 | 2018-06-06 | 新日鉄住金ソリューションズ株式会社 | System, information processing apparatus, information processing method, and program |
JP2018036937A (en) * | 2016-09-01 | 2018-03-08 | 住友電気工業株式会社 | Image processing device, image processing system, image processing program and label |
US10346797B2 (en) * | 2016-09-26 | 2019-07-09 | Cybernet Systems, Inc. | Path and load localization and operations supporting automated warehousing using robotic forklifts or other material handling vehicles |
CN206436927U (en) | 2016-11-28 | 2017-08-25 | 英华达(上海)科技有限公司 | AGV collision avoidance sensing devices |
CN106764689B (en) | 2016-12-28 | 2023-06-23 | 陕西中烟工业有限责任公司 | Stacker trouble lighting device and stacker |
CN106672859B (en) | 2017-01-05 | 2018-11-09 | 深圳市有光图像科技有限公司 | A kind of method and fork truck based on fork truck visual identity pallet |
CN107203804B (en) * | 2017-05-19 | 2021-04-09 | 苏州易信安工业技术有限公司 | Data processing method, device and system |
CN206735721U (en) | 2017-05-23 | 2017-12-12 | 张璐 | A kind of fork truck loaded suitable for large piece article |
US20180359405A1 (en) | 2017-06-12 | 2018-12-13 | Symbol Technologies, Llc | Frame synchronization of multiple image capture devices |
US10899015B2 (en) * | 2017-09-01 | 2021-01-26 | Siemens Aktiengesellschaft | Method and system for dynamic robot positioning |
CN108502810B (en) | 2018-04-13 | 2020-11-24 | 深圳市有光图像科技有限公司 | Method for identifying pallet by forklift and forklift |
CN108584809B (en) * | 2018-06-01 | 2024-04-19 | 诺力智能装备股份有限公司 | Automatic goods storage and taking control system and method for AGV forklift |
CN108545669B (en) | 2018-06-29 | 2019-11-19 | 广东嘉腾机器人自动化有限公司 | Fork truck cargo access method and device based on obstacle avoidance sensor |
CN108791439A (en) | 2018-07-17 | 2018-11-13 | 佛山迅拓奥科技有限公司 | Novel cargo height detection device |
EP3950566B1 (en) * | 2019-04-02 | 2024-03-20 | Beijing Geekplus Technology Co., Ltd. | High-position robot, method for calibrating return of storage container, and storage medium |
CN109987550B (en) | 2019-04-04 | 2021-03-19 | 北京极智嘉科技有限公司 | Calibration method and storage medium for high-position forklift and returning storage container |
CN109969989B (en) | 2019-04-02 | 2020-12-04 | 北京极智嘉科技有限公司 | Driving strategy determination method, intelligent forklift and storage medium |
DE102021104920A1 (en) * | 2021-03-02 | 2022-09-08 | Jungheinrich Aktiengesellschaft | PROCEDURE FOR CALIBRATION OF COORDINATE SYSTEMS IN INDUSTRIAL TRUCKS |
-
2019
- 2019-08-27 EP EP19923051.7A patent/EP3950566B1/en active Active
- 2019-08-27 WO PCT/CN2019/102910 patent/WO2020199471A1/en unknown
- 2019-08-27 US US17/600,544 patent/US11958687B2/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2468678A1 (en) * | 2010-12-23 | 2012-06-27 | Jungheinrich Aktiengesellschaft | Industrial truck with a sensor for detecting the surroundings and method for operating such an industrial truck |
US20160090283A1 (en) * | 2014-09-25 | 2016-03-31 | Bt Products Ab | Fork-Lift Truck |
US20180143624A1 (en) * | 2016-11-22 | 2018-05-24 | Jungheinrich Aktiengesellschaft | Method and industrial truck for ascertaining and representing the position of storage bins in a warehouse |
Also Published As
Publication number | Publication date |
---|---|
US11958687B2 (en) | 2024-04-16 |
EP3950566A1 (en) | 2022-02-09 |
US20220177222A1 (en) | 2022-06-09 |
WO2020199471A1 (en) | 2020-10-08 |
EP3950566B1 (en) | 2024-03-20 |
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